Robotics 2010 Current and future challenges Part 3 potx

... quasi veloc- ities. Journal of Guidance, Control, and Dynamics 29(6), 130 9– 131 4. Robotics 2010: Current and Future Challenges 76 x y z x y z Fig. 3. Investigated motions for the experimental study, ... 180                         6 .32 7.15 99 .39 74. 43 129.05 72.67 104.74 140.78 210.72 148.49 228.80 151.94 178.42 221.57                   ...

Ngày tải lên: 11/08/2014, 21:22

... the WorkPartner service robot. WorkPartner is a centaur-like service robot with four wheeled legs and a human-like upper body with two hands and a head (see Figure 3) . Fig. 3. The WorkPartner ... WorkPartner service robot. WorkPartner is a centaur-like service robot with four wheeled legs and a human-like upper body with two hands and a head (see Figure 3) . body with tw o...

Ngày tải lên: 11/08/2014, 21:22

... actuators are applied on the Robotics 2010: Current and Future Challenges 44 Robotics 2010: Current and Future Challenges 42 Fig. 6. Target grasping sequence, wait, approach, and grasp 7. Operational ... coordinates Robotics 2010: Current and Future Challenges 52 and then define Γ r  ¯ Γ 22 , and Γ o  ¯ Γ 12 . (30 ) Now, substituting (25) into (22) and then using definitions (28)...

Ngày tải lên: 11/08/2014, 21:22

... 2. Universal Robot Hand and Rotational Manipulation 2.1 Universal Robot Hand Each of Universal Robot Hand's five four-jointed 3- DOF fingers is 33 3.7 mm long (Fig. 1) and Table 1. Each Joint ... 2. Universal Robot Hand and Rotational Manipulation 2.1 Universal Robot Hand Each of Universal Robot Hand's five four-jointed 3- DOF fingers is 33 3.7 mm long (Fig. 1) and...

Ngày tải lên: 11/08/2014, 21:22

... 13( a)) rl ECCE   11 ˆˆ (Fig. 13( b)) rl ECCCCCCE   32 132 1 ˆˆ (Fig. 13( c)) rl ECCCCCCE   32 132 1 ˆˆ (Fig. 13( d)) The eight knot and the stevedore's knot can ... 2.5 03 0.896 5.0 1.241 60.660 4.012 1.601 3. 210 15.010 57 .35 8 4.012 1.601 3. 210 10.010 57 .35 8 Measured current [A] 1.871 0.794 0.591 0.572 Power [W]...

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... 1 Actuator 2 Joint 3 r 12 R 1 R 12 R 2 I Joint 2 Joint 1 Actuator 1 Actuator 2 Joint 3 Joint 4 Actuator 4 Joint 3 Actuator 3 R 4 R 3 Joint 4 Actuator 4 Joint 3 Actuator 3 R 4 R 3 Fig. 18. ABLE ... Transmission à vis, écrou et câble attaché à la vis » for screw and nut transmission and cable - FR0101 630 , 2000 (EUR 01 938 347.0-2421 and US 10/296,740 Garrec P., Fric...

Ngày tải lên: 11/08/2014, 21:22

... (Vicon 612). 630 480 31 0 420 630 480 31 0 420 A B C O 630 480 31 0 420 630 480 31 0 420 630 480 31 0 420 630 480 31 0 420 A B C O F ig. 22. Marker p ositions Fig. 23 The trajectory of ... (Vicon 612). 630 480 31 0 420 630 480 31 0 420 A B C O 630 480 31 0 420 630 480 31 0 420 630 480 31 0 420 630 480 31 0 420 A B C O F i g . 22....

Ngày tải lên: 11/08/2014, 21:22

... 0.15 FINAL µ A 31 (e) 222.4 0.15 -222.4 0.24 VALUES µ A 12 ( ˙ e ) 89 .33 -0.2185 -89 .33 -0. 03 µ A 22 ( ˙ e ) 89 .33 -0.04 -89 .33 0.12 µ A 32 ( ˙ e ) 89 .33 0.1118 -89 .33 0.29 Table 3. The initial ... 0.15 -222.4 0.24 VALUES µ A 12 ( ˙ e ) 89 .33 -0.2185 -89 .33 -0. 03 µ A 22 ( ˙ e ) 89 .33 -0.04 -89 .33 0.12 µ A 32 ( ˙ e ) 89 .33 0.1118 -89 .33 0.29 Table 3. The initial value o...

Ngày tải lên: 11/08/2014, 21:22

... (kgm/s) 870 .36 q M  (kgm 2 ) -1 534 00.00 q M (kgm 2 /s) -39 351.25 u X (kg/s) -728. 73 e Z  (kgm/s 2 ) -31 68.10 w X (kg/s) 33 .36 e M  (kgm 2 /s 2 ) -10974 .31 q X (kgm/s) ... v N (kgm/s) -4054 .37 v N  (kgm) -1 534 00.00 p N (kgm 2 /s) 0.00 p N  (kgm 2 ) -728. 73 r N (kgm 2 /s) - 137 04. 63 r N  (kgm 2 ) 33 .36 pr Y  (kgm/s 2 )...

Ngày tải lên: 11/08/2014, 21:22

... see 3 entities table: ID= 23, pos=(10,20) table: ID= 73, pos=(- 23, 72) table: ID=12, pos=(- 53, 56) I am Cam1, I see 3 entities person: ID=14,pos= (34 ,21) robot: ID=25,pos=(58,55) sofa: ID= 134 ,pos=( 93, 42) I ... ID= 23, pos=(10,20) table: ID= 73, pos=(- 23, 72) table: ID=12, pos=(- 53, 56) I am Cam1, I see 3 entities person: ID=14,pos= (34 ,21) robot: ID=25,pos=(58,55) sofa: ID= 13...

Ngày tải lên: 11/08/2014, 21:22